\begin{minted}[]{c++}
#include <localization_measurements/timestamped_pose_with_covariance.h>
#include <node_adders/measurement_based_timestamped_node_adder.h>
#include <nodes/timestamped_nodes.h>

#include <gtsam/geometry/Pose3.h>

"relative_pose_node_adder_model.h"

  using RelativePoseNodeAdder =
    MeasurementBasedTimestampedNodeAdder<
      localization_measurements::TimestampedPoseWithCovariance,
      gtsam::Pose3, nodes::TimestampedNodes<gtsam::Pose3>,
      RelativePoseNodeAdderModel>;
\end{minted}